public void TestPreciseMoverUnnecessaryMove()
{
var motorMover = MockMotorMover.Create();
var preciseMover = new PreciseMotorMover(motorMover);
int targetPos = 0;
preciseMover.GoToPositionAsync(targetPos).Wait();
Assert.AreEqual(targetPos, motorMover.Locator.Position, "Position did not end at the target position.");
}
public void TestPreciseMoverOnlyFirstMove()
{
var motorMover = MockMotorMover.Create();
var preciseMover = new PreciseMotorMover(motorMover);
int targetPos = 5;
var moveTask = preciseMover.GoToPositionAsync(targetPos);
while (motorMover.motor.Information.Direction == MoveDirection.Stopped)
{
}
while (motorMover.motor.Information.Direction != MoveDirection.Stopped)
{
}
motorMover.Locator.ShiftPosition(targetPos - motorMover.Locator.Position);
moveTask.Wait();
Assert.AreEqual(targetPos, motorMover.Locator.Position, "Position did not end at the target position.");
}
public void TestPreciseMoverBackwardMove()
{
var motorMover = MockMotorMover.Create();
var preciseMover = new PreciseMotorMover(motorMover);
int targetPos = -5;
var moveTask = preciseMover.GoToPositionAsync(targetPos);
while (motorMover.motor.Information.Direction == MoveDirection.Stopped)
{
}
while (motorMover.motor.Information.Direction != MoveDirection.Stopped)
{
}
motorMover.Locator.ShiftPosition(targetPos + targetPos);
moveTask.Wait();
Assert.IsTrue(Math.Abs(targetPos - motorMover.Locator.Position) < 4, "Position did not end at the target position.");
}